\chapter{移植\+IMU }
\hypertarget{md__c_1_2_users_2_a_s_u_s_2_desktop_2dm-ctrl_h7-balance-9025test_2doc_2_x_e7_x_a7_x_b_b_x_e6_x_a4_x8_d_i_m_u}{}\label{md__c_1_2_users_2_a_s_u_s_2_desktop_2dm-ctrl_h7-balance-9025test_2doc_2_x_e7_x_a7_x_b_b_x_e6_x_a4_x8_d_i_m_u}\index{移植IMU@{移植IMU}}
BMI088：

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\begin{longtabu}spread 0pt [c]{*{6}{|X[-1]}|}
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\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ 版本/对应引脚  }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ 加热  }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ SPI  }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ INT(1-\/Accel 3-\/Gyro)  }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ CSB1  }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ CSB2  }\\\cline{1-6}
\endfirsthead
\hline
\endfoot
\hline
\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ 版本/对应引脚  }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ 加热  }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ SPI  }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ INT(1-\/Accel 3-\/Gyro)  }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ CSB1  }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ CSB2  }\\\cline{1-6}
\endhead
Basic\+\_\+framework(C板)  &TIM10\+\_\+\+CH1(\+PF6)  &SPI1(\+CLK MOSI MISO)  &INT1(\+Accel) INT3(\+GYRO)  &CS1\+\_\+\+Accel(\+PA4)  &CS1\+\_\+\+Gyro(\+PB0)  \\\cline{1-6}
Test(mc02)  &TIM3\+\_\+\+CH4(\+PB1)  &SPI2(\+CLK MOSI MISO)  &INT1(\+PE10 ACCEL) INT3(\+PE12 GYRO)  &SPI2\+\_\+\+CS0(\+PC00)  &SPI2\+\_\+\+CS1(\+PC03)  \\\cline{1-6}
\end{longtabu}


BMI088\+Middleware.\+c 